 (defn head-centre [angle]
   {:joints {"HeadPitch" angle}})
 
-(defn head-stiff [ignored]
+(defn head-stiff [_]
   {:stiffness {"Head" 1.0}})
 
-(defn head-relax [ignored]
+(defn head-relax [_]
   {:stiffness {"Head" 0.0}})
 
 

  [angle1 angle2]
  {:joints {"RHipPitch" angle1}})

(defn legs-left-stiff  [& ignored]
  {:stiffness {"LLeg" 1.0}})

(defn legs-right-stiff  [& ignored]
  {:stiffness {"RLeg" 1.0}})

(defn legs-stiff [& ignored]
  (combine-stiffness-fns legs-left-stiff legs-right-stiff))

(defn legs-left-relax  [& ignored]
  {:stiffness {"LLeg" 0.0}})

(defn legs-right-relax  [& ignored]
  {:stiffness {"RLeg" 0.0}})

(defn legs-relax [& ignored]
  (combine-stiffness-fns legs-left-stiff legs-right-stiff))

;; knees

(defn arms-back [angle1 angle2]
  (combine-joint-fns angle1 angle2 arms-left-back arms-right-back))

(defn arms-left-stiff [& _]
  {:stiffness {"LArm" 1.0}})

(defn arms-right-stiff [& _]
  {:stiffness {"RArm" 1.0}})

(defn arms-stiff [& _]
  (combine-stiffness-fns arms-left-stiff arms-right-stiff))

(defn arms-left-relax [& _]
  {:stiffness {"LArm" 0.0}})

(defn arms-right-relax [& _]
  {:stiffness {"RArm" 0.0}})

(defn arms-relax [& _]
  (combine-stiffness-fns arms-left-relax arms-right-relax))


